Abstract: A device receives information regarding whether a cover of an authentication indicia of a consumable has been subject to tampering. In response to the information indicating that the cover of the authentication indicia has not been subject to tampering, the device obtains an image of the authentication indicia after the cover has been removed from the authentication indicia. The device performs an authentication process to authenticate the consumable based on the authentication indicia.

Abstract: A print material refill container includes a housing and a chamber, within the housing, to contain a print material. The print material refill container includes a physical indicator subject to modification based on an engagement of the physical indicator with an engagement member of a printing device when the print material refill container engages the printing device to deliver the print material to a reservoir of the printing device. The physical indicator indicates an unused condition of the print material refill container when the physical indicator has a first state prior to the modification, and the physical indicator indicates a used condition of the print material refill container when the physical indicator has a second state subsequent to the modification.

Abstract: A robotic surgery system includes an orienting platform, a manipulator, and a set-up linkage. The manipulator includes an instrument holder, a pitch linkage, and a yaw linkage. The instrument holder is operable to translate the surgical instrument along an insertion axis to insert the surgical instrument through a remote center of manipulation (RC). The pitch linkage is operable to rotate the instrument holder around a pitch axis that intersects the RC. The yaw linkage is operable to rotate the pitch linkage around a yaw axis. The set-up linkage is connected between the yaw linkage and the orienting platform. The set-up linkage is operable to reposition the manipulator relative to the orienting platform with a motion that maintains the RC in a fixed position relative to the orienting platform.

Abstract: A robotic surgery system includes an orienting platform, a support linkage movably supporting the orienting platform, a plurality of surgical instrument manipulators, and a plurality of set-up linkages. Each of the manipulators includes an instrument holder and is operable to rotate the instrument holder around a remote center of manipulation (RC). At least one of the manipulators includes a reorientation mechanism that when actuated moves the attached manipulator through a motion that maintains the associated RC in a fixed position.

Abstract: A robotic surgery system includes an orienting platform, a first manipulator, a second manipulator supported by the orienting platform, and a first set-up linkage by which the first manipulator is coupled to and supported by the orienting platform. The first manipulator includes a first instrument holder configured to support a first surgical instrument. The first manipulator is operable to insert and manipulate the first surgical instrument. The second manipulator includes a second instrument holder configured to support a second surgical instrument. The second manipulator is operable to insert and manipulate the second surgical instrument. The first set-up linkage is operable to selectively reposition the first manipulator relative to the orienting platform.

Abstract: A robotic surgery system includes a mounting base, a column base fixedly coupled with the mounting base, a translatable column member slideably coupled to the column base, an orienting platform coupled with the translatable column member, outer set-up linkages, and outer surgical instrument manipulators. Each of the outer set-up linkages is rotationally coupled to and supported by the orienting platform. Each of the outer set-up linkages includes an extension link, a coupling link, and a first joint that couples the respective coupling link to the respective extension link. Each of the outer surgical instrument manipulators is operable to selectively articulate a respective surgical instrument mounted to the outer surgical instrument manipulator and to insert the surgical instrument along an insertion axis through a remote center of manipulation.

Abstract: Devices, systems, and methods for reconfiguring a surgical manipulator by moving the manipulator within a null-space of a kinematic Jacobian of the manipulator arm. In one aspect, in response to receiving a reconfiguration command, the system drives a first set of joints and calculates velocities of the plurality of joints to be within a null-space. The joints are driven according to the reconfiguration command and the calculated movement so as to maintain a desired state of the end effector or a remote center about which an instrument shaft pivots. In another aspect, the joints are also driven according to a calculated end effector or remote center displacing velocities within a null-perpendicular-space of the Jacobian so as to effect the desired reconfiguration concurrently with a desired movement of the end effector or remote center.

Abstract: A robotic surgery system includes an orienting platform, a support linkage movably supporting the orienting platform, a plurality of surgical instrument manipulators, and a plurality of set-up linkages. Each of the manipulators includes an instrument holder and is operable to rotate the instrument holder around a remote center of manipulation (RC). At least one of the manipulators includes a reorientation mechanism that when actuated moves the attached manipulator through a motion that maintains the associated RC in a fixed position.

Abstract: A robotic surgery system includes an orienting platform, a support linkage movably supporting the orienting platform, a plurality of surgical instrument manipulators, and a plurality of set-up linkages. Each of the manipulators includes an instrument holder and is operable to rotate the instrument holder around a remote center of manipulation (RC). At least one of the manipulators includes a reorientation mechanism that when actuated moves the attached manipulator through a motion that maintains the associated RC in a fixed position.

Abstract: A downhole distributor valve includes a housing that includes a housing fluid port therethrough, a mandrel that defines a bore and is positioned radially within the housing, and a fluid chamber radially defined between the housing and the mandrel and configured to contain a fluid at a particular pressure. The mandrel includes a mandrel fluid port therethrough. The mandrel is moveable from a first position with the bore fluidly decoupled from the housing fluid port to a second position with the bore fluidly coupled with the housing fluid port through the mandrel fluid port. The mandrel is moveable based on a hydrostatic pressure in the bore greater than the particular pressure of the pressurized fluid.

Abstract: Devices, systems, and methods for reconfiguring a surgical manipulator by moving the manipulator within a null-space of a kinematic Jacobian of the manipulator arm. In one aspect, in response to receiving a reconfiguration command, the system drives a first set of joints and calculates velocities of the plurality of joints to be within a null-space. The joints are driven according to the reconfiguration command and the calculated movement so as to maintain a desired state of the end effector or a remote center about which an instrument shaft pivots. In another aspect, the joints are also driven according to a calculated end effector or remote center displacing velocities within a null-perpendicular-space of the Jacobian so as to effect the desired reconfiguration concurrently with a desired movement of the end effector or remote center.

Abstract: Devices, systems, and methods for reconfiguring a surgical manipulator by moving the manipulator within a null-space of a kinematic Jacobian of the manipulator arm. In one aspect, in response to receiving a reconfiguration command, the system drives a first set of joints and calculates velocities of the plurality of joints to be within a null-space. The joints are driven according to the reconfiguration command and the calculated movement so as to maintain a desired state of the end effector or a remote center about which an instrument shaft pivots. In another aspect, the joints are also driven according to a calculated end effector or remote center displacing velocities within a null-perpendicular-space of the Jacobian so as to effect the desired reconfiguration concurrently with a desired movement of the end effector or remote center.

Abstract: An in-well type sampling system including a sampling chamber actuable to receive a fluid sample and a pressure source coupled to the sampling chamber to supply pressure to the sampling chamber after the sampling chamber actuating. A pressure sensor is provided in communication with the pressure source to measure the pressure of the pressure source. A telemetry communicator is coupled to the pressure sensor to send a signal from the pressure sensor away from the sampling system.

Abstract: Devices, systems, and methods for reconfiguring a surgical manipulator by moving the manipulator within a null-space of a kinematic Jacobian of the manipulator arm. In one aspect, in response to receiving a reconfiguration command, the system drives a first set of joints and calculates velocities of the plurality of joints to be within a null-space. The joints are driven according to the reconfiguration command and the calculated movement so as to maintain a desired state of the end effector or a remote center about which an instrument shaft pivots. In another aspect, the joints are also driven according to a calculated end effector or remote center displacing velocities within a null-perpendicular-space of the Jacobian so as to effect the desired reconfiguration concurrently with a desired movement of the end effector or remote center.

Abstract: A downhole distributor valve includes a housing that includes a housing fluid port therethrough, a mandrel that defines a bore and is positioned radially within the housing, and a fluid chamber radially defined between the housing and the mandrel and configured to contain a fluid at a particular pressure. The mandrel includes a mandrel fluid port therethrough. The mandrel is moveable from a first position with the bore fluidly decoupled from the housing fluid port to a second position with the bore fluidly coupled with the housing fluid port through the mandrel fluid port. The mandrel is moveable based on a hydrostatic pressure in the bore greater than the particular pressure of the pressurized fluid.

Abstract: Devices, systems, and methods for reconfiguring a surgical manipulator by moving the manipulator within a null-space of a kinematic Jacobian of the manipulator arm. In one aspect, in response to receiving a reconfiguration command, the system drives a first set of joints and calculates velocities of the plurality of joints to be within a null-space. The joints are driven according to the reconfiguration command and the calculated movement so as to maintain a desired state of the end effector or a remote center about which an instrument shaft pivots. In another aspect, the joints are also driven according to a calculated end effector or remote center displacing velocities within a null-perpendicular-space of the Jacobian so as to effect the desired reconfiguration concurrently with a desired movement of the end effector or remote center.

Abstract: A robotic surgery system includes an orienting platform, a support linkage movably supporting the orienting platform, a plurality of surgical instrument manipulators, and a plurality of set-up linkages. Each of the manipulators includes an instrument holder and is operable to rotate the instrument holder around a remote center of manipulation (RC). At least one of the manipulators includes a reorientation mechanism that when actuated moves the attached manipulator through a motion that maintains the associated RC in a fixed position.

Abstract: An in-well type sampling system including a sampling chamber actuable to receive a fluid sample and a pressure source coupled to the sampling chamber to supply pressure to the sampling chamber after the sampling chamber actuating. A pressure sensor is provided in communication with the pressure source to measure the pressure of the pressure source. A telemetry communicator is coupled to the pressure sensor to send a signal from the pressure sensor away from the sampling system.

Abstract: A tool string having a pressure dependent mandrel and actuator assembly can operate at the annulus pressure within a wellbore to lock the mandrel actuator assembly and prevent further motion of the mandrel within the tool string as the tool string is moved upward or downward in the wellbore. The tool string can further include a valve connected to the actuator assembly, where the valve can be in an open configuration within the wellbore due to the annulus pressure and related motion of the mandrel, and then be locked in an open configuration regardless of the annulus pressure as the tool string is moved upward or downward in the wellbore.

Abstract: A robotic surgery system includes an orienting platform, a support linkage movably supporting the orienting platform, a plurality of surgical instrument manipulators, and a plurality of set-up linkages. Each of the manipulators includes an instrument holder and is operable to rotate the instrument holder around a remote center of manipulation (RC). At least one of the manipulators includes a reorientation mechanism that when actuated moves the attached manipulator through a motion that maintains the associated RC in a fixed position.